def testPlanConstraints():
ikPlanner.planningMode = 'dummy'
constraints = buildConstraints()
poses = ce.getPlanPoses(constraints, ikPlanner)
poseJsonStr = json.dumps(poses, indent=4)
constraintsJsonStr = ce.encodeConstraints(constraints, indent=4)
print poseJsonStr
print constraintsJsonStr
constraints = ce.decodeConstraints(constraintsJsonStr)
pprint.pprint(constraints)
def testPlanConstraints():
# this is required for now, makes it avoid communication with matlab
# inside the call to ikPlanner.addPose
ikPlanner.pushToMatlab = False
constraints = buildConstraints()
poses = ce.getPlanPoses(constraints, ikPlanner)
poseJsonStr = json.dumps(poses, indent=4)
constraintsJsonStr = ce.encodeConstraints(constraints, indent=4)
print poseJsonStr
print constraintsJsonStr
constraints = ce.decodeConstraints(constraintsJsonStr)
pprint.pprint(constraints)
def testPlanConstraints():
ikPlanner.planningMode = 'dummy'
constraints = buildConstraints()
poses = ce.getPlanPoses(constraints, ikPlanner)
poseJsonStr = json.dumps(poses, indent=4)
constraintsJsonStr = ce.encodeConstraints(constraints, indent=4)
print poseJsonStr
print constraintsJsonStr
constraints = ce.decodeConstraints(constraintsJsonStr)
pprint.pprint(constraints)
def setupMessage(self, constraints, endPoseName="", nominalPoseName="", seedPoseName="", additionalTimeSamples=None):
poses = ikconstraintencoder.getPlanPoses(constraints, self.ikPlanner)
poses.update(self.poses)
msg = lcmdrc.exotica_planner_request_t()
msg.utime = getUtime()
msg.poses = json.dumps(poses)
msg.constraints = ikconstraintencoder.encodeConstraints(constraints)
msg.seed_pose = seedPoseName
msg.nominal_pose = nominalPoseName
msg.end_pose = endPoseName
msg.joint_names = json.dumps(list(self.ikPlanner.jointController.jointNames))
msg.affordances = self.processAffordances()
opt=ikplanner.getIkOptions()._properties
if additionalTimeSamples:
opt.update({'timeSamples':additionalTimeSamples})
opt['jointLimits']=self.jointLimits
msg.options = json.dumps(opt)
return msg
def testPlanConstraints():
# this is required for now, makes it avoid communication with matlab
# inside the call to ikPlanner.addPose
ikPlanner.pushToMatlab = False
constraints = buildConstraints()
poses = ce.getPlanPoses(constraints, ikPlanner)
poseJsonStr = json.dumps(poses, indent=4)
constraintsJsonStr = ce.encodeConstraints(constraints, indent=4)
print poseJsonStr
print constraintsJsonStr
constraints = ce.decodeConstraints(constraintsJsonStr)
pprint.pprint(constraints)
def setupMessage(self, fields):
# todo, exotica should migrate to new style option names.
# for backward compatibility, override the options field here
# and insert jointLimits to options list
options = OrderedDict(self.ikPlanner.getIkOptions()._properties)
options['jointLimits'] = fields.jointLimits
import drc as lcmdrc
msg = lcmdrc.exotica_planner_request_t()
msg.utime = fields.utime
msg.poses = json.dumps(fields.poses)
msg.constraints = ikconstraintencoder.encodeConstraints(fields.constraints)
msg.seed_pose = fields.seedPose
msg.nominal_pose = fields.nominalPose
msg.end_pose = fields.endPose
msg.joint_names = json.dumps(fields.jointNames)
msg.affordances = fields.affordances
msg.options = json.dumps(options)
return msg
def testPlanConstraints():
ikPlanner.planningMode = 'dummy'
constraints = buildConstraints()
poses = ce.getPlanPoses(constraints, ikPlanner)
poseJsonStr = json.dumps(poses, indent=4)
constraintsJsonStr = ce.encodeConstraints(constraints, indent=4)
print poseJsonStr
print constraintsJsonStr
print '--------------decoding--------------------'
constraints = ce.decodeConstraints(constraintsJsonStr)
pprint.pprint(constraints)
print '--------------reconstructing--------------'
constraints = reconstructConstraints(constraints)
print '--------------matlab commands---------------'
for c in constraints:
c.printCommands()
def testPlanConstraints():
ikPlanner.planningMode = 'dummy'
constraints = buildConstraints()
poses = ce.getPlanPoses(constraints, ikPlanner)
poseJsonStr = json.dumps(poses, indent=4)
constraintsJsonStr = ce.encodeConstraints(constraints, indent=4)
print poseJsonStr
print constraintsJsonStr
print '--------------decoding--------------------'
constraints = ce.decodeConstraints(constraintsJsonStr)
pprint.pprint(constraints)
print '--------------reconstructing--------------'
constraints = reconstructConstraints(constraints)
print '--------------matlab commands---------------'
for c in constraints:
c.printCommands()
def setupMessage(self,
constraints,
endPoseName="",
nominalPoseName="",
seedPoseName="",
additionalTimeSamples=None):
poses = ikconstraintencoder.getPlanPoses(constraints, self.ikPlanner)
poses.update(self.poses)
msg = lcmdrc.exotica_planner_request_t()
msg.utime = getUtime()
msg.poses = json.dumps(poses)
msg.constraints = ikconstraintencoder.encodeConstraints(constraints)
msg.seed_pose = seedPoseName
msg.nominal_pose = nominalPoseName
msg.end_pose = endPoseName
msg.joint_names = json.dumps(
list(self.ikPlanner.jointController.jointNames))
msg.affordances = self.processAffordances()
opt = ikplanner.getIkOptions()._properties
if additionalTimeSamples:
opt.update({'timeSamples': additionalTimeSamples})
opt['jointLimits'] = self.jointLimits
msg.options = json.dumps(opt)
return msg
